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289 lines
10 KiB
C
289 lines
10 KiB
C
/*
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FreeRTOS.org V4.7.0 - Copyright (C) 2003-2007 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS.org is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS.org; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS.org, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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See http://www.FreeRTOS.org for documentation, latest information, license
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and contact details. Please ensure to read the configuration and relevant
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port sections of the online documentation.
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Also see http://www.SafeRTOS.com a version that has been certified for use
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in safety critical systems, plus commercial licensing, development and
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support options.
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***************************************************************************
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*/
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/*
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NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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The processor MUST be in supervisor mode when vTaskStartScheduler is
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called. The demo applications included in the FreeRTOS.org download switch
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to supervisor mode prior to main being called. If you are not using one of
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these demo application projects then ensure Supervisor mode is used.
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*/
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/*
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* Creates all the application tasks, then starts the scheduler.
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*
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* A task is created called "uIP". This executes the uIP stack and small
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* WEB server sample. All the other tasks are from the set of standard
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* demo tasks. The WEB documentation provides more details of the standard
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* demo application tasks.
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*
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* Main.c also creates a task called "Check". This only executes every three
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* seconds but has the highest priority so is guaranteed to get processor time.
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* Its main function is to check that all the other tasks are still operational.
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* Each standard demo task maintains a unique count that is incremented each
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* time the task successfully completes its function. Should any error occur
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* within such a task the count is permanently halted. The check task inspects
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* the count of each task to ensure it has changed since the last time the
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* check task executed. If all the count variables have changed all the tasks
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* are still executing error free, and the check task toggles the yellow LED.
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* Should any task contain an error at any time the LED toggle rate will change
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* from 3 seconds to 500ms.
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*
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*/
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/* Standard includes. */
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#include <stdlib.h>
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#include <string.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Demo application includes. */
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#include "PollQ.h"
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#include "dynamic.h"
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#include "semtest.h"
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/*-----------------------------------------------------------*/
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/* Constants to setup the PLL. */
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#define mainPLL_MUL_4 ( ( unsigned portCHAR ) 0x0003 )
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#define mainPLL_DIV_1 ( ( unsigned portCHAR ) 0x0000 )
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#define mainPLL_ENABLE ( ( unsigned portCHAR ) 0x0001 )
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#define mainPLL_CONNECT ( ( unsigned portCHAR ) 0x0003 )
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#define mainPLL_FEED_BYTE1 ( ( unsigned portCHAR ) 0xaa )
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#define mainPLL_FEED_BYTE2 ( ( unsigned portCHAR ) 0x55 )
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#define mainPLL_LOCK ( ( unsigned portLONG ) 0x0400 )
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/* Constants to setup the MAM. */
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#define mainMAM_TIM_3 ( ( unsigned portCHAR ) 0x03 )
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#define mainMAM_MODE_FULL ( ( unsigned portCHAR ) 0x02 )
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/* Constants to setup the peripheral bus. */
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#define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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/* Priorities/stacks for the demo application tasks. */
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainUIP_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainUIP_TASK_STACK_SIZE ( 150 )
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/* The rate at which the on board LED will toggle when there is/is not an
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error. */
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#define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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#define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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#define mainON_BOARD_LED_BIT ( ( unsigned portLONG ) 0x80 )
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#define mainYELLOW_LED ( 1 << 11 )
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/*-----------------------------------------------------------*/
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/*
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* This is the uIP task which is defined within the uip.c file. This has not
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* been placed into a header file in order to minimise the changes to the uip
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* code.
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*/
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extern void ( vuIP_TASK ) ( void *pvParameters );
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/*
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* The Yellow LED is under the control of the Check task. All the other LED's
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* are under the control of the uIP task.
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*/
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void prvToggleOnBoardLED( void );
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/*
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* Checks that all the demo application tasks are still executing without error
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* - as described at the top of the file.
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*/
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static portLONG prvCheckOtherTasksAreStillRunning( void );
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/*
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* The task that executes at the highest priority and calls
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* prvCheckOtherTasksAreStillRunning(). See the description at the top
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* of the file.
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*/
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static void vErrorChecks( void *pvParameters );
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/*
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* Configure the processor for use with the Olimex demo board. This includes
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* setup for the I/O, system clock, and access timings.
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*/
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static void prvSetupHardware( void );
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/*-----------------------------------------------------------*/
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/*
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* Starts all the other tasks, then starts the scheduler.
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*/
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int main( void )
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{
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/* Configure the processor. */
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prvSetupHardware();
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/* Start the task that handles the TCP/IP functionality. */
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xTaskCreate( vuIP_TASK, "uIP", mainUIP_TASK_STACK_SIZE, NULL, mainUIP_PRIORITY, NULL );
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/* Start the demo/test application tasks. These are created in addition
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to the TCP/IP task for demonstration and test purposes. */
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartDynamicPriorityTasks();
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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/* Start the check task - which is defined in this file. */
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xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Now all the tasks have been started - start the scheduler.
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NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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The processor MUST be in supervisor mode when vTaskStartScheduler is
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called. The demo applications included in the FreeRTOS.org download switch
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to supervisor mode prior to main being called. If you are not using one of
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these demo application projects then ensure Supervisor mode is used here. */
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vTaskStartScheduler();
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/* Should never reach here! */
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return 0;
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}
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/*-----------------------------------------------------------*/
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static void vErrorChecks( void *pvParameters )
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{
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portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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/* Cycle for ever, delaying then checking all the other tasks are still
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operating without error. If an error is detected then the delay period
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is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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the on board LED flash rate will increase. */
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for( ;; )
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{
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/* Delay until it is time to execute again. */
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vTaskDelay( xDelayPeriod );
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/* Check all the standard demo application tasks are executing without
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error. */
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if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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{
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/* An error has been detected in one of the tasks - flash faster. */
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xDelayPeriod = mainERROR_FLASH_PERIOD;
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}
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prvToggleOnBoardLED();
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}
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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#ifdef RUN_FROM_RAM
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/* Remap the interrupt vectors to RAM if we are are running from RAM. */
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SCB_MEMMAP = 2;
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#endif
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/* Setup the PLL to multiply the XTAL input by 4. */
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SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );
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/* Activate the PLL by turning it on then feeding the correct sequence of
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bytes. */
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SCB_PLLCON = mainPLL_ENABLE;
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SCB_PLLFEED = mainPLL_FEED_BYTE1;
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SCB_PLLFEED = mainPLL_FEED_BYTE2;
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/* Wait for the PLL to lock... */
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while( !( SCB_PLLSTAT & mainPLL_LOCK ) );
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/* ...before connecting it using the feed sequence again. */
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SCB_PLLCON = mainPLL_CONNECT;
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SCB_PLLFEED = mainPLL_FEED_BYTE1;
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SCB_PLLFEED = mainPLL_FEED_BYTE2;
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/* Setup and turn on the MAM. Three cycle access is used due to the fast
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PLL used. It is possible faster overall performance could be obtained by
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tuning the MAM and PLL settings. */
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MAM_TIM = mainMAM_TIM_3;
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MAM_CR = mainMAM_MODE_FULL;
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/* Setup the peripheral bus to be the same as the PLL output. */
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SCB_VPBDIV = mainBUS_CLK_FULL;
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}
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/*-----------------------------------------------------------*/
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void prvToggleOnBoardLED( void )
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{
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unsigned portLONG ulState;
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ulState = GPIO0_IOPIN;
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if( ulState & mainYELLOW_LED )
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{
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GPIO_IOCLR = mainYELLOW_LED;
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}
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else
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{
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GPIO_IOSET = mainYELLOW_LED;
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}
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}
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/*-----------------------------------------------------------*/
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static portLONG prvCheckOtherTasksAreStillRunning( void )
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{
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portLONG lReturn = ( portLONG ) pdPASS;
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/* Check all the demo tasks (other than the flash tasks) to ensure
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that they are all still running, and that none of them have detected
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an error. */
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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return lReturn;
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}
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